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Re: Damping the joystick at 1
Quote:
Originally Posted by Ether
Run your joystick commands through a rate-limit filter.
Do the LabVIEW equivalent of this:
Code:
change = joystick - limitedJoystick;
if (change>limit) change = limit;
else (if change<-limit) change = -limit;
limitedJoystick += change;
limit is the amount of change you will allow every iteration
limitedJoystick is the rate-limited joystick value you use to control your motors.
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There is a pre-built "PID" function in LabView that does exactly this. Search for "rate limit".
We are using this to keep us from stripping gears on our ball pickup if we reverse directions quickly on it.
Find a control value that works well by experimentation. For our ball pickup, a value of 45 is good. For drive control, you may want a higher number.
__________________
CalGames 2009 Autonomous Champion Award winner
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2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award.
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
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2015 Innovation in Control Award, Sacramento.
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Last edited by billbo911 : 16-02-2012 at 12:47.
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